WO2022190687A1 - Arc welding method - Google Patents

Arc welding method Download PDF

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Publication number
WO2022190687A1
WO2022190687A1 PCT/JP2022/002915 JP2022002915W WO2022190687A1 WO 2022190687 A1 WO2022190687 A1 WO 2022190687A1 JP 2022002915 W JP2022002915 W JP 2022002915W WO 2022190687 A1 WO2022190687 A1 WO 2022190687A1
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Prior art keywords
edge
welding
welded
downward
edges
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PCT/JP2022/002915
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French (fr)
Japanese (ja)
Inventor
英範 岡
克幸 高村
寛之 田中
敬和 田村
Original Assignee
株式会社ワイテック
株式会社キーレックス・ワイテック・インターナショナル
株式会社キーレックス
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Application filed by 株式会社ワイテック, 株式会社キーレックス・ワイテック・インターナショナル, 株式会社キーレックス filed Critical 株式会社ワイテック
Publication of WO2022190687A1 publication Critical patent/WO2022190687A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode

Definitions

  • the present disclosure relates to an arc welding method using a consumable electrode.
  • an arc is generated between the welded portion and the consumable electrode wire while supplying shield gas to the welded portion of the member to be welded, and the arc heat melts the welded portion and the consumable electrode wire, Join the welds.
  • Patent Document 1 discloses a so-called edge welding method in which the edges of two members to be welded are used as weld portions and the edges are overlapped and welded.
  • the edge welding method of Patent Document 1 employs a downward welding method.
  • the members to be welded are held so that the edges of the members to be welded slope downward and the mating portions of the edges face upward.
  • the tip of the welding torch is directed downward and placed above the joining portion between the edges of the members to be welded, and welding is performed while proceeding from top to bottom along the edges of the members to be welded. It is called downward welding because the welding torch is advanced from top to bottom.
  • the edges of the parts to be welded are inclined downward so that the molten metal under the action of gravity follows the arc along the edges, resulting in a good weld. be possible.
  • edges in both directions on one side and the other side so the edge on one side faces upward.
  • the member to be welded must be rotated to turn the edge of the other side upward, and then downward welding must be performed again, which increases the number of steps and manufacturing man-hours.
  • the conventional method requires coordinated welding with a positioner to maintain an appropriate downward angle depending on the product shape.
  • the present inventor placed the member to be welded horizontally so that both the edge of one side and the edge of the other side face sideways, and performed the first welding on the edge of one side.
  • the present disclosure has been made in view of this point, and an object of the present disclosure is to enable simultaneous welding of the edge of one side and the edge of the other side when edge welding the members to be welded. To reduce the number of steps and man-hours for manufacturing.
  • the first edges located on one side of the member to be welded are overlapped and edge welded, and the other side of the member to be welded is welded. It is premised on an arc welding method in which the second edges located at are overlapped and edge welded. In this arc welding method, the member to be welded is positioned such that the first edge and the second edge face sideways and the first edge and the second edge are inclined downward.
  • the tip of the first welding torch is caused to approach the first edge from the side and proceed downward along the first edge to generate an arc and weld, and the second welding torch A welding process is performed in which the tip of the welding torch approaches the second edge from the side and moves downward along the second edge to generate an arc for welding.
  • the first welding torch can be brought closer to the first edge from the side while welding, and the second welding can be performed. Welding with the torch laterally approaching the second edge can be performed in parallel. At this time, the first edge portion and the second edge portion are inclined downward so that the first welding torch and the second welding torch are advanced downward along the first edge portion and the second edge portion. Molten metal under gravity flows along the first and second edges to follow the arc, which allows for a good weld.
  • the posture of the member to be welded is held so that the downward inclination angle of the first edge and the second edge is 45° or more.
  • the molten metal tends to drip down depending on the welding conditions. Since the angle of the edge portion and the second edge portion with respect to the horizontal plane is 45° or more, the molten metal is much less likely to drip and the appearance of the weld bead is improved.
  • the inclination angle of the portion that is the smallest inclination angle is 45° or more.
  • the first edge and the second edge may be three-dimensionally curved.
  • the inclination angles of the first edge and the second edge with respect to the horizontal plane are different in each part during the holding process, and when the inclination angle of one part becomes 0°, the molten metal drips and falls. , may cause poor welding.
  • the inclination angle of the portion that is the minimum inclination angle is 45° or more, the molten metal can be suppressed from falling over the entire first edge and the second edge, and the welding quality can be improved.
  • the position of the member to be welded is held such that the downward inclination angle of the first edge and the second edge is 50° or more, thereby performing welding. Quality can be further improved.
  • the postures of the first welding torch and the second welding torch are inclined at an angle of 10° with respect to the horizontal plane so that the tip end is positioned lower than the base end. It is set between a downward attitude with an angle and an upward attitude with an inclination angle of 5° with respect to the horizontal plane so that the distal end is positioned higher than the proximal end.
  • the angle of the welding torch in the downward posture can be set to 10° or less, and the angle of the welding torch in the upward posture can be set to 5° or less, so that the edge penetration can be made uniform.
  • the welding torch may be horizontal.
  • a first robot is caused to grip the first welding torch
  • a second robot is caused to grip the second welding torch, welding the first edge and welding the second welding torch. Welding of the two edges is performed in parallel.
  • the welding of the first edge and the welding of the second edge can be performed simultaneously using the first robot and the second robot.
  • the first edge and the second edge of the member to be welded are held sideways and inclined downward, and the first edges are welded together with the first welding torch, Since the second edges are welded together by the second welding torch, the first edges and the second edges can be welded simultaneously, thereby reducing the number of steps and manufacturing man-hours.
  • FIG. 1 is a schematic configuration diagram of a welding system for performing an arc welding method according to an embodiment of the present invention
  • FIG. 1 is a block diagram of a welding system
  • FIG. It is a perspective view which shows a mode that the right-and-left simultaneous welding of a workpiece
  • FIG. 4 is an end view taken along line IV-IV in FIG. 3;
  • FIG. 5 is a diagram showing the relationship between downward advance angle and bead appearance;
  • FIG. 1 is a schematic configuration diagram of a welding system 1 for performing an arc welding method according to an embodiment of the present invention.
  • the welding system 1 includes a first robot 10 , a second robot 20 , a first welding device 30 , a second welding device 40 and a control device 50 .
  • the first robot 10, the second robot 20, the first welding device 30, the second welding device 40, and the control device 50 are installed, for example, on the floor of a factory that manufactures automobile parts and the like.
  • the first robot 10 , the second robot 20 , the first welding device 30 , the second welding device 40 and the control device 50 are capable of welding two welding portions of one component W at the same time. A specific structure of the component W will be described later.
  • the first robot 10 and the second robot 20 are similarly configured.
  • the first robot 10 includes a base 11, a robot arm 12, and a first robot controller 13 (shown in FIG. 2), and is an industrial robot capable of six-axis control.
  • a base 11 is fixed to a floor surface or the like.
  • the distal end portion of the robot arm 12 is capable of gripping various members and the like, and grips the first welding torch 32 .
  • the first robot control device 13 is a device for controlling the robot arm 12 . For example, by performing processing such as teaching in advance, the first robot control device 13 can cause the robot arm 12 to perform a desired operation. Welding speed can be changed by changing the operating speed of the robot arm 12 .
  • the second robot 20 also includes a base 21 , a robot arm 22 and a second robot controller 23 like the first robot 10 .
  • the first robot control device 13 and the second robot control device 23 may be shared.
  • the first welding device 30 and the second welding device 40 are similarly constructed.
  • the first welding device 30 includes a device main body 31 and a first welding torch 32, and can be configured by a welding device conventionally used as a gas-shielded arc welding device.
  • the device main body 31 is configured to supply the consumable electrode wire 100 to the first welding torch 32 at a predetermined speed and to supply the shield gas to the tip of the first welding torch 32 at a predetermined flow rate.
  • argon gas, carbon dioxide gas, or the like can be used as the shield gas.
  • the first welding torch 32 is held at the tip of the robot arm 12 of the first robot 10 .
  • the device main body 31 also includes a power supply section (not shown) that supplies a predetermined welding current and voltage.
  • the power supply unit is configured to select and supply either a pulse current or a non-pulse current.
  • the welding current becomes a pulsating current, and for example, droplets generated during the base current can be separated from the wire and transferred to the base material during the peak current.
  • the second welding device 40 also includes a device body 41 and a second welding torch 42.
  • the second welding torch 42 is held at the tip of the robot arm 22 of the second robot 20 .
  • the control device 50 includes a control section 51 such as a microcomputer, and an operation panel 52 .
  • the operation panel 52 is used to perform operations such as starting and stopping the operation of the welding system 1 and inputting various set values.
  • An operation panel 52 is connected to the control unit 51, and operation information of the operation panel 52 is input.
  • the first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 are connected to the control unit 51.
  • the control section 51 outputs a control signal.
  • the first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 operate according to predetermined programs and set values when control signals are input from the control unit 51.
  • control device 50 may be omitted, and an integrated control unit that integrates and operates the first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 may be provided.
  • control device 50 may be omitted, and the first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 may be linked and operated.
  • the welding system 1 includes a component holding device 600.
  • the component holding device 600 is configured to be able to hold the component W in a predetermined posture, and includes, for example, various clamping devices.
  • the component holding device 600 may be an industrial robot. In this case, the tip of the robot arm can grip the part W and hold it in a predetermined posture.
  • FIG. 4 An example of a component W as a member to be welded that can be welded by the welding system 1 will be described with reference to FIGS. 3 and 4.
  • FIG. 4 the part W is a hollow part, which is formed by welding a first plate member 60 and a second plate member 70 together.
  • the part W of this embodiment is a pedal arm of an automobile, and therefore has a vertically elongated shape when attached to the automobile.
  • the upper side in FIG. 3 is the upper side when attached to the automobile, and the lower side in FIG. 3 is the lower side when attached to the automobile.
  • the part W having a shape that is elongated in a predetermined direction may be composed of the first plate member 60 on one side in the thickness direction and the second plate member 70 on the other side in the thickness direction.
  • the first plate member 60 includes a top wall portion 61 and side wall portions 62 and 63 extending from both side end portions of the top wall portion 61 toward the second plate member 70 side. And the side walls 62 and 63 are integrally formed by pressing a single plate material. An end portion of one side wall portion 62 is formed in a flange shape extending in a direction away from the other side wall portion 63 . An end portion of the other side wall portion 63 is formed into a flange shape extending in a direction away from the one side wall portion 62 .
  • the second plate member 70 includes a top wall portion 71 and side wall portions 72, 73 extending from both side ends of the top wall portion 71 toward the first plate member 60.
  • the top wall portion 71 and the side wall portions 72, 73 are It is integrally formed by pressing a single plate material.
  • An end portion of one side wall portion 72 is formed in a flange shape extending in a direction away from the other side wall portion 73 .
  • An end portion of the other side wall portion 73 is formed into a flange shape extending in a direction away from the one side wall portion 72 .
  • the flange-shaped portion of one side wall portion 62 of the first plate member 60 and the flange-shaped portion of one side wall portion 72 of the second plate member 70 are overlapped, and the flange portion of the other side wall portion 63 of the first plate member 60 is overlapped.
  • the shaped portion and the flange-shaped portion of the other side wall portion 73 of the second plate member 70 are overlapped.
  • the first edge portion 62a located on one side of the first plate member 60 and the first edge portion 72a located on one side of the second plate member 70 are overlapped, and the first plate member A second edge 63a located on the other side of the plate 60 and a second edge 73a located on the other side of the second plate member 70 are overlapped.
  • first plate member 60 and the second plate member 70 are joined by overlapping the first edge portions 62a and 72a and edge-welding them and by overlapping and edge-welding the second edge portions 63a and 73a.
  • the first edges 62a, 72a and the second edges 63a, 73a both extend in the longitudinal direction of the part W, the first edges 62a, 72a being one of the two longitudinal edges of the part W.
  • One edge, the second edge 63a, 73a, is the other of the two longitudinal edges of the part W.
  • first plate member 60 and the second plate member 70 have complicated shapes that are curved or bent in a three-dimensional shape. Therefore, the first edge portions 62a, 72a and the second edge portions 63a, 73a each have a three-dimensionally curved shape. That is, when the component W is viewed from above, when viewed from the side, and when viewed along the longitudinal direction, the first edges 62a, 72a and the second edges 63a, 73a are bent. appear.
  • the first edge portions 62a, 72a and the second edge portions 63a, 73a may have the same shape or may have different shapes. Also, the first edges 62a, 72a and the second edges 63a, 73a may extend linearly.
  • the structure and shape of the component W described above are examples, and other structures and shapes may be used. Although not shown, for example, one may have a shape like the first plate 60 and the other may have a flat plate shape. can be overlapped and edge welded. Further, the component W may be a combination of dome-shaped plate materials, or a box-shaped component W may be used.
  • the arc welding method according to the present embodiment is a method in which the first edge portions 62a and 72a are overlapped and edge-welded, and the second edge portions 63a and 73a are overlapped and edge-welded. and a welding step of performing welding.
  • a component holding device 600 is used in the holding process. That is, the first plate member 60 and the second plate member 70 obtained by pressing are overlapped with the first edge portions 62a and 72a and the second edge portions 63a and 73a are overlapped with each other. In this state, the first plate member 60 and the second plate member 70 are clamped by the clamping device of the component holding device 600 .
  • the component holding device 600 can change the position and angle of the clamping device, and can change the clamping position of the component W.
  • the posture of the component W can be changed to any posture.
  • both the first edges 62a, 72a and the second edges 63a, 73a face sideways, and the first edges 62a, 72a and the second edges 63a are arranged sideways.
  • 73a are inclined downward, and the component holding device 600 holds the component W in this posture.
  • the first edges 62a, 72a are positioned on the left and the second edges 63a, 73a are positioned on the right.
  • the first edge portions 62a and 72a are vertically overlapped with each other and face left, and the second edge portions 63a and 73a are vertically overlapped with each other and face right. That is, the first edges 62a, 72a and the second edges 63a, 73a face in opposite directions in the horizontal direction.
  • the part W held is in a posture in which one of the longitudinal directions of the part W is positioned lower than the other.
  • the first edge portions 62a, 72a and the second edge portions 63a, 73a are inclined as a whole such that one of them in the longitudinal direction is positioned lower than the other.
  • the posture of the component W is maintained so that the downward inclination angle of the first edge portions 62a, 72a and the second edge portions 63a, 73a is 45° or more.
  • the downward tilt angle is the angle of the first edges 62a, 72a with respect to the horizontal plane and the angle of the second edges 63a, 73a with respect to the horizontal plane.
  • the descending inclination angle is The difference is that one component W has a portion with a small downward inclination angle and a portion with a large downward inclination angle.
  • the first edges 62a, 72a and the second edges 63a, 73a are bent when viewed from the side in the held state.
  • the inclination angle of the portion having the minimum inclination angle is set to 45° or more.
  • the downward inclination angle is more preferably 50° or more. Since the downward inclination angle is an angle that defines the downward direction of the first welding torch 32 and the second welding torch 42, it can also be called a downward advance angle.
  • the tip of the second welding torch 42 gripped by the robot arm 22 of the second robot 20 is brought closer to the second edges 63a, 73a from the side and advanced downward along the second edges 63a, 73a.
  • An arc is generated to weld the second edges 63a, 73a.
  • An arrow C indicates the traveling direction of the second welding torch 42 . Since the second edges 63a and 73a are also three-dimensionally curved, the second welding torch 42 may be moved in the horizontal direction. The welding of the first edge portions 62a, 72a and the welding of the second edge portions 63a, 73a are performed in parallel.
  • the welding of the first edge portions 62a, 72a and the welding of the second edge portions 63a, 73a may start at different timings. , 73a may be different.
  • the welding start timing of the first edge portions 62a, 72a is adjusted to the welding start timing of the second edge portions 63a, 73a.
  • the welding end timing of the first edge portions 62a, 72a can be made later than the start timing, or the welding end timing of the second edge portions 63a, 73a can be made earlier.
  • the welding start timing of the first edge portions 62a, 72a and the welding start timing of the second edge portions 63a, 73a may be the same.
  • the welding end timing of the first edge portions 62a, 72a and the welding end timing of the second edge portions 63a, 73a may be the same.
  • the welding start timing and end timing can be controlled by the first welding device 30 , the second welding device 40 and the control device 50 .
  • the posture of the first welding torch 32 and the second welding torch 42 may be a downward posture in which the tip is positioned below the base end, or an upward posture in which the tip is positioned above the base end. or a horizontal position in which the distal end and the proximal end are at the same height.
  • the postures of the first welding torch 32 and the second welding torch 42 can be changed by controlling the first robot 10 and the second robot 20, respectively.
  • the angle ⁇ with respect to the horizontal plane is 10° or less.
  • the angle ⁇ with respect to the horizontal plane is 5° or less. That is, the postures of the first welding torch 32 and the second welding torch 42 are set between a downward posture with an inclination angle of 10° with respect to the horizontal plane and an upward posture with an inclination angle of 5° with respect to the horizontal plane. It is preferable to set with The angle ⁇ is more preferably 8° or less, and the angle ⁇ is more preferably 3° or less.
  • the angle ⁇ when the welding torches 32, 42 are in the downward posture is greater than 10°, it will be difficult for the edges 62a, 72a, 63a, 73a to penetrate uniformly, and the welding torches 32, 42 in the upward posture
  • the hour angle ⁇ is larger than 5°, it is difficult to uniformly melt the edges 62a, 72a, 63a, 73a.
  • the angle ⁇ when the welding torches 32 and 42 face downward can be set to 10° or less, and the angle ⁇ when the welding torches 32 and 42 face upward can be set to 5° or less.
  • the melting of 72a, 63a, and 73a can be made uniform.
  • both the first edge portions 62a, 72a and the second edge portions 63a, 73a of the component W face sideways, so that the first welding torch 32 is positioned at the first edge portion.
  • Welding while bringing the second welding torch 42 closer to the second edges 62a and 72a from the side and welding while making the second welding torch 42 closer to the second edges 63a and 73a from the side can be performed in parallel.
  • the first edge portions 62a, 72a and the second edge portions 63a, 73a are inclined downward, and the first welding torch 32 and the second welding torch 42 are moved toward the first edge portions 62a, 72a and the second edge portions 63a.
  • 73a so that the molten metal under the force of gravity follows the arc along the first edges 62a, 72a and the second edges 63a, 73a. This allows for good welds.
  • the molten metal tends to drip down depending on the welding conditions. Since the downward angle of the first edge portions 62a, 72a and the second edge portions 63a, 73a during arc welding is 45° or more, the molten metal is more difficult to drip and the appearance of the weld bead is improved.
  • FIG. 5 shows photographs of the appearance of beads actually welded when the downward advance angle is 0° (horizontal), 30°, and 50°. . Since the appearance of the bead was almost the same at the descending angle of 50° and 45°, the photograph of the appearance at 45° is omitted.
  • the downward angle is 0°
  • the molten metal drips down, resulting in poor welding.
  • the downward angle is 30°
  • the bead becomes finer than when the angle is 0°, and the weld does not become defective depending on the welding conditions.
  • the downward angle is 45° or more, the bead will be clean, and poor welding will be less likely to occur even under severe welding conditions. Looking at the cross-sectional photograph of the welded part, it can be seen that it has melted cleanly.
  • the flow of the molten metal can be controlled by preset downward angle and welding speed. For example, depending on the shape, there may be a portion where the angle of inclination becomes large and the molten metal advances, so this portion can be controlled by speed.
  • the flow of molten metal is less affected by the shape of the work. The followability of the molten metal to the shape is better in the horizontal downward movement.
  • the arc welding method according to the present invention can be used, for example, when welding various parts.
  • First robot 20 Second robot 32 First welding torch 42 Second welding torch 60 First plate 62a First edge 63a Second edge 70 Second plate 72a First edge 73a Second edge W Part (cover welding parts)

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  • Engineering & Computer Science (AREA)
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  • Butt Welding And Welding Of Specific Article (AREA)
  • Arc Welding In General (AREA)

Abstract

The present invention provides an arc welding method including holding an orientation of a welded member W such that a first edge and a second edge of the welded member W face sideways and that the first edge and the second edge are inclined downward. The arc welding method further includes subsequently moving a tip of a first welding torch 32 closer to the first edge from sideways and advancing the tip downward while performing welding, and moving a tip of a second welding torch 42 closer to the second edge from sideways and advancing the tip downward while performing welding.

Description

アーク溶接方法arc welding method
　本開示は、消耗電極を用いたアーク溶接方法に関する。 The present disclosure relates to an arc welding method using a consumable electrode.
　一般に、ガスシールドアーク溶接では、被溶接部材の溶接部にシールドガスを供給しながら、溶接部と消耗電極ワイヤとの間でアークを発生させ、アーク熱によって溶接部及び消耗電極ワイヤを溶融させ、溶接部の接合を行う。 Generally, in gas-shielded arc welding, an arc is generated between the welded portion and the consumable electrode wire while supplying shield gas to the welded portion of the member to be welded, and the arc heat melts the welded portion and the consumable electrode wire, Join the welds.
　特許文献１には、２枚の被溶接部材の縁が溶接部とされて当該縁同士を重ねた状態で溶接する、いわゆるへり溶接方法が開示されている。特許文献１のへり溶接方法では、下進溶接法を採用している。下進溶接法では、被溶接部材の縁が下降傾斜するように、かつ縁同士の合わせ部分が上に向くように当該被溶接部材を保持しておく。そして、溶接トーチの先端を下に向けるとともに被溶接部材の縁同士の合わせ部の上方に配置し、被溶接部材の縁に沿って上から下へ進めながら溶接する。溶接トーチを上から下へ進めるので、下進溶接と呼ばれている。 Patent Document 1 discloses a so-called edge welding method in which the edges of two members to be welded are used as weld portions and the edges are overlapped and welded. The edge welding method of Patent Document 1 employs a downward welding method. In the downward welding method, the members to be welded are held so that the edges of the members to be welded slope downward and the mating portions of the edges face upward. Then, the tip of the welding torch is directed downward and placed above the joining portion between the edges of the members to be welded, and welding is performed while proceeding from top to bottom along the edges of the members to be welded. It is called downward welding because the welding torch is advanced from top to bottom.
特開昭５５－１５３６７９号公報JP-A-55-153679
　下進溶接法では、被溶接部材の縁が下降傾斜しているので、重力が作用している溶融金属は縁に沿ってアークの後を追うように流れていき、このことで良好な溶接が可能になる。ところが、例えば２枚の板材を合わせて中空部材を構成するような場合を想定すると、一方の側部と他方の側部の両方向に縁があるので、一方の側部の縁を上に向けた状態で下進溶接した後、被溶接部材を回転させて他方の側部の縁を上に向け、再び下進溶接しなければならないので、工程数及び製造工数が増加する。 In the downward welding process, the edges of the parts to be welded are inclined downward so that the molten metal under the action of gravity follows the arc along the edges, resulting in a good weld. be possible. However, assuming a case where, for example, two plates are joined together to form a hollow member, there are edges in both directions on one side and the other side, so the edge on one side faces upward. After downward welding in this state, the member to be welded must be rotated to turn the edge of the other side upward, and then downward welding must be performed again, which increases the number of steps and manufacturing man-hours.
　また、従来工法は製品形状によって適切な下進角度を維持するため、ポジショナによる協調溶接を行う必要がある。 In addition, the conventional method requires coordinated welding with a positioner to maintain an appropriate downward angle depending on the product shape.
　そこで、本発明者は、一方の側部の縁と他方の側部の縁とが共に横に向くように被溶接部材を水平に配置し、一方の側部の縁に対して第１の溶接トーチを側方からアプローチし、他方の側部の縁に対して第２の溶接トーチを側方からアプローチして溶接を同時に進行させる方法を見出した。これにより、工程数及び製造工数の削減につながると考えられる。 Therefore, the present inventor placed the member to be welded horizontally so that both the edge of one side and the edge of the other side face sideways, and performed the first welding on the edge of one side. We have found a method of simultaneously advancing the weld by side approaching a torch and side approaching a second welding torch against the other side edge. This is believed to lead to a reduction in the number of steps and manufacturing man-hours.
　しかしながら、被溶接部材を水平に配置した状態で溶接してみると、縁の溶融金属が重力の影響で縁から垂れ落ちてしまい、溶接不良を引き起こす結果となった。 However, when the welded parts were placed horizontally and welded, the molten metal on the edge dripped down from the edge due to the influence of gravity, resulting in poor welding.
　本開示は、かかる点に鑑みたものであり、その目的とするところは、被溶接部材をへり溶接する場合に、一方の側部の縁と他方の側部の縁とを同時に溶接可能にして工程数及び製造工数を削減することにある。 The present disclosure has been made in view of this point, and an object of the present disclosure is to enable simultaneous welding of the edge of one side and the edge of the other side when edge welding the members to be welded. To reduce the number of steps and man-hours for manufacturing.
　上記目的を達成するために、本開示の第１の側面では、被溶接部材の一方の側部に位置する第１縁部同士を重ね合わせてへり溶接するとともに、被溶接部材の他方の側部に位置する第２縁部同士を重ね合わせてへり溶接するアーク溶接方法を前提とする。このアーク溶接方法では、前記第１縁部及び前記第２縁部が横に向くように、かつ、前記第１縁部及び前記第２縁部が下降傾斜するように前記被溶接部材の姿勢を保持する保持工程を行った後、第１溶接トーチの先端を前記第１縁部に側方から接近させて当該第１縁部に沿って下へ進めながらアークを発生させて溶接し、第２溶接トーチの先端を前記第２縁部に側方から接近させて当該第２縁部に沿って下へ進めながらアークを発生させて溶接する溶接工程を行う。 In order to achieve the above object, in the first aspect of the present disclosure, the first edges located on one side of the member to be welded are overlapped and edge welded, and the other side of the member to be welded is welded. It is premised on an arc welding method in which the second edges located at are overlapped and edge welded. In this arc welding method, the member to be welded is positioned such that the first edge and the second edge face sideways and the first edge and the second edge are inclined downward. After performing the holding step of holding, the tip of the first welding torch is caused to approach the first edge from the side and proceed downward along the first edge to generate an arc and weld, and the second welding torch A welding process is performed in which the tip of the welding torch approaches the second edge from the side and moves downward along the second edge to generate an arc for welding.
　この構成によれば、第１縁部及び第２縁部が共に横に向いているので、第１溶接トーチを第１縁部に対して側方から接近させながら溶接することと、第２溶接トーチを第２縁部に対して側方から接近させながら溶接することとが並行して行えるようになる。このとき、第１縁部及び第２縁部が下降傾斜していて、第１溶接トーチ及び第２溶接トーチを第１縁部及び第２縁部に沿って下へ進めるようにしているので、重力が作用している溶融金属は第１縁部及び第２縁部に沿ってアークの後を追うように流れていき、このことで良好な溶接が可能になる。 According to this configuration, since both the first edge and the second edge face sideways, the first welding torch can be brought closer to the first edge from the side while welding, and the second welding can be performed. Welding with the torch laterally approaching the second edge can be performed in parallel. At this time, the first edge portion and the second edge portion are inclined downward so that the first welding torch and the second welding torch are advanced downward along the first edge portion and the second edge portion. Molten metal under gravity flows along the first and second edges to follow the arc, which allows for a good weld.
　本開示の第２の側面では、前記保持工程では、前記第１縁部及び前記第２縁部の下降傾斜角度が４５゜以上となるように前記被溶接部材の姿勢を保持するものである。 In the second aspect of the present disclosure, in the holding step, the posture of the member to be welded is held so that the downward inclination angle of the first edge and the second edge is 45° or more.
　すなわち、仮に第１縁部及び第２縁部の傾斜角度を４５゜未満にすると、溶接条件等によっては溶融金属が垂れ落ちやすくなってしまうが、本構成によれば、アーク溶接時における第１縁部及び第２縁部の水平面に対する角度が４５゜以上になるので、溶融金属がより一層垂れ落ちにくくなり、溶接ビードの外観がきれいになる。 That is, if the inclination angle of the first edge and the second edge is less than 45°, the molten metal tends to drip down depending on the welding conditions. Since the angle of the edge portion and the second edge portion with respect to the horizontal plane is 45° or more, the molten metal is much less likely to drip and the appearance of the weld bead is improved.
　本開示の第３の側面では、前記保持工程では、三次元に曲がっている前記第１縁部及び前記第２縁部の各部分の傾斜角度のうち、最小の傾斜角度となる部分の傾斜角度を４５゜以上とするものである。 In the third aspect of the present disclosure, in the holding step, among the inclination angles of the portions of the first edge portion and the second edge portion that are three-dimensionally curved, the inclination angle of the portion that is the smallest inclination angle is 45° or more.
　すなわち、一対の被溶接部材で構成される製品の形状によっては、第１縁部及び第２縁部が三次元に曲がっている場合がある。三次元に曲がっている場合、保持工程時に第１縁部及び第２縁部の水平面に対する傾斜角度は各部分で異なることになり、一部分の傾斜角度が０゜になると溶融金属が垂れて落下し、溶接不良の原因となるおそれがある。本構成では、最小の傾斜角度となる部分の傾斜角度が４５゜以上であることから、第１縁部及び第２縁部の全体で溶融金属の落下を抑制して溶接品質を高めることができる。 That is, depending on the shape of the product composed of a pair of members to be welded, the first edge and the second edge may be three-dimensionally curved. In the case of three-dimensional bending, the inclination angles of the first edge and the second edge with respect to the horizontal plane are different in each part during the holding process, and when the inclination angle of one part becomes 0°, the molten metal drips and falls. , may cause poor welding. In this configuration, since the inclination angle of the portion that is the minimum inclination angle is 45° or more, the molten metal can be suppressed from falling over the entire first edge and the second edge, and the welding quality can be improved. .
　本開示の第４の側面では、前記保持工程では、前記第１縁部及び前記第２縁部の下降傾斜角度が５０゜以上となるように前記被溶接部材の姿勢を保持することで、溶接品質をより一層向上させることができる。 In the fourth aspect of the present disclosure, in the holding step, the position of the member to be welded is held such that the downward inclination angle of the first edge and the second edge is 50° or more, thereby performing welding. Quality can be further improved.
　本開示の第５の側面では、前記溶接工程では、前記第１溶接トーチ及び前記第２溶接トーチの姿勢を、先端が基端に比べて下に位置するように水平面に対して１０゜の傾斜角度を持った下向き姿勢と、先端が基端に比べて上に位置するように水平面に対して５゜の傾斜角度を持った上向き姿勢との間で設定するものである。 In a fifth aspect of the present disclosure, in the welding step, the postures of the first welding torch and the second welding torch are inclined at an angle of 10° with respect to the horizontal plane so that the tip end is positioned lower than the base end. It is set between a downward attitude with an angle and an upward attitude with an inclination angle of 5° with respect to the horizontal plane so that the distal end is positioned higher than the proximal end.
　すなわち、仮に溶接トーチの下向き姿勢時の角度が１０゜よりも大きくなると、縁部の溶け込みが均一になり難く、また、溶接トーチの上向き姿勢時の角度が５゜よりも大きくなると、縁部の溶け込みが均一になり難い。本構成では、溶接トーチの下向き姿勢時の角度を１０゜以下とし、溶接トーチの上向き姿勢時の角度を５゜以下とすることができるので、縁部の溶け込みを均一化することができる。尚、溶接トーチは水平であってもよい。 That is, if the angle of the welding torch in the downward posture is greater than 10°, it is difficult to achieve uniform penetration of the edge. Dissolution is difficult to be uniform. In this configuration, the angle of the welding torch in the downward posture can be set to 10° or less, and the angle of the welding torch in the upward posture can be set to 5° or less, so that the edge penetration can be made uniform. Note that the welding torch may be horizontal.
　本開示の第６の側面では、前記溶接工程では、第１ロボットに前記第１溶接トーチを把持させ、第２ロボットに前記第２溶接トーチを把持させ、前記第１縁部の溶接と前記第２縁部の溶接とを並行して行うものである。 In a sixth aspect of the present disclosure, in the welding step, a first robot is caused to grip the first welding torch, a second robot is caused to grip the second welding torch, welding the first edge and welding the second welding torch. Welding of the two edges is performed in parallel.
　この構成によれば、第１ロボット及び第２ロボットを使用して第１縁部の溶接と第２縁部の溶接とを同時に行うことができる。 According to this configuration, the welding of the first edge and the welding of the second edge can be performed simultaneously using the first robot and the second robot.
　以上説明したように、被溶接部材の第１縁部及び第２縁部を横に向けた状態で下降傾斜するように保持しておき、第１溶接トーチで第１縁部同士を溶接し、第２溶接トーチで第２縁部同士を溶接するようにしたので、第１縁部同士及び第２縁部同士を同時に溶接することができ、工程数及び製造工数を削減できる。 As described above, the first edge and the second edge of the member to be welded are held sideways and inclined downward, and the first edges are welded together with the first welding torch, Since the second edges are welded together by the second welding torch, the first edges and the second edges can be welded simultaneously, thereby reducing the number of steps and manufacturing man-hours.
本発明の実施形態に係るアーク溶接方法を行うための溶接システムの概略構成図である。1 is a schematic configuration diagram of a welding system for performing an arc welding method according to an embodiment of the present invention; FIG. 溶接システムのブロック図である。1 is a block diagram of a welding system; FIG. ワークを左右同時溶接する様子を示す斜視図である。It is a perspective view which shows a mode that the right-and-left simultaneous welding of a workpiece|work is carried out. 図３におけるIV－IV線端面図である。FIG. 4 is an end view taken along line IV-IV in FIG. 3; 下進角とビード外観との関係を示す図である。FIG. 5 is a diagram showing the relationship between downward advance angle and bead appearance;
　以下、本発明の実施形態を図面に基づいて詳細に説明する。尚、以下の好ましい実施形態の説明は、本質的に例示に過ぎず、本発明、その適用物或いはその用途を制限することを意図するものではない。 Hereinafter, embodiments of the present invention will be described in detail based on the drawings. It should be noted that the following description of preferred embodiments is essentially merely illustrative, and is not intended to limit the invention, its applications, or its uses.
　図１は、本発明の実施形態に係るアーク溶接方法を行うための溶接システム１の概略構成図である。溶接システム１は、第１ロボット１０と、第２ロボット２０と、第１溶接装置３０と、第２溶接装置４０と、制御装置５０とを備えている。第１ロボット１０、第２ロボット２０、第１溶接装置３０、第２溶接装置４０及び制御装置５０は、例えば自動車部品等を製造する工場の床面等に設置されている。第１ロボット１０、第２ロボット２０、第１溶接装置３０、第２溶接装置４０及び制御装置５０によって１つの部品Ｗの２箇所の溶接部を同時に溶接することができるようになっている。部品Ｗの具体的な構造については後述する。 FIG. 1 is a schematic configuration diagram of a welding system 1 for performing an arc welding method according to an embodiment of the present invention. The welding system 1 includes a first robot 10 , a second robot 20 , a first welding device 30 , a second welding device 40 and a control device 50 . The first robot 10, the second robot 20, the first welding device 30, the second welding device 40, and the control device 50 are installed, for example, on the floor of a factory that manufactures automobile parts and the like. The first robot 10 , the second robot 20 , the first welding device 30 , the second welding device 40 and the control device 50 are capable of welding two welding portions of one component W at the same time. A specific structure of the component W will be described later.
　（ロボットの構成）
　第１ロボット１０と第２ロボット２０とは同様に構成されている。第１ロボット１０は、ベース１１と、ロボットアーム１２と、第１ロボット制御装置１３（図２に示す）とを備えており、６軸制御が可能な産業用ロボットで構成されている。ベース１１が床面等に固定されている。ロボットアーム１２の先端部は各種部材等を把持することが可能になっており、第１溶接トーチ３２を把持している。第１ロボット制御装置１３は、ロボットアーム１２を制御するための装置である。例えば事前にティーチング等の処理を行っておくことで、第１ロボット制御装置１３によってロボットアーム１２に所望の動作をさせることができる。溶接速度の変更は、ロボットアーム１２の動作速度を変えることで可能である。尚、第２ロボット２０も、第１ロボット１０と同様にベース２１と、ロボットアーム２２と、第２ロボット制御装置２３とを備えている。第１ロボット制御装置１３と第２ロボット制御装置２３とは共通化されていてもよい。 (robot configuration)
The first robot 10 and the second robot 20 are similarly configured. The first robot 10 includes a base 11, a robot arm 12, and a first robot controller 13 (shown in FIG. 2), and is an industrial robot capable of six-axis control. A base 11 is fixed to a floor surface or the like. The distal end portion of the robot arm 12 is capable of gripping various members and the like, and grips the first welding torch 32 . The first robot control device 13 is a device for controlling the robot arm 12 . For example, by performing processing such as teaching in advance, the first robot control device 13 can cause the robot arm 12 to perform a desired operation. Welding speed can be changed by changing the operating speed of the robot arm 12 . The second robot 20 also includes a base 21 , a robot arm 22 and a second robot controller 23 like the first robot 10 . The first robot control device 13 and the second robot control device 23 may be shared.
　（溶接装置の構成）
　第１溶接装置３０と第２溶接装置４０は同様に構成されている。第１溶接装置３０は、装置本体３１と第１溶接トーチ３２とを備えており、従来からガスシールドアーク溶接装置として使用されている溶接装置で構成することができる。装置本体３１は、消耗電極ワイヤ１００を第１溶接トーチ３２へ所定の速度で供給するとともに、第１溶接トーチ３２の先端へシールドガスを所定の流量で供給するように構成されている。シールドガスは、例えばアルゴンガス、炭酸ガス等を用いることができる。第１溶接トーチ３２は、第１ロボット１０のロボットアーム１２の先端に把持されている。 (Configuration of welding equipment)
The first welding device 30 and the second welding device 40 are similarly constructed. The first welding device 30 includes a device main body 31 and a first welding torch 32, and can be configured by a welding device conventionally used as a gas-shielded arc welding device. The device main body 31 is configured to supply the consumable electrode wire 100 to the first welding torch 32 at a predetermined speed and to supply the shield gas to the tip of the first welding torch 32 at a predetermined flow rate. For example, argon gas, carbon dioxide gas, or the like can be used as the shield gas. The first welding torch 32 is held at the tip of the robot arm 12 of the first robot 10 .
　装置本体３１は所定の溶接電流及び電圧を供給する電源部（図示せず）も備えている。電源部は、パルス電流と、非パルス電流とのうち、一方を選択して供給可能に構成されている。パルス電流の場合、溶接電流が脈動電流となり、例えばベース電流時に生じた溶滴をピーク電流時にワイヤから切り離して母材へ移行させることができる。 The device main body 31 also includes a power supply section (not shown) that supplies a predetermined welding current and voltage. The power supply unit is configured to select and supply either a pulse current or a non-pulse current. In the case of a pulsed current, the welding current becomes a pulsating current, and for example, droplets generated during the base current can be separated from the wire and transferred to the base material during the peak current.
　第２溶接装置４０も装置本体４１と第２溶接トーチ４２とを備えている。第２溶接トーチ４２は、第２ロボット２０のロボットアーム２２の先端に把持されている。 The second welding device 40 also includes a device body 41 and a second welding torch 42. The second welding torch 42 is held at the tip of the robot arm 22 of the second robot 20 .
　（制御装置の構成）
　図２に示すように、制御装置５０は、マイクロコンピュータ等からなる制御部５１と、操作盤５２とを備えている。操作盤５２は、溶接システム１の動作開始や停止の各操作、各種設定値の入力等を行うものである。制御部５１には、操作盤５２が接続されており、操作盤５２の操作情報が入力される。さらに、制御部５１には、第１ロボット制御装置１３、第２ロボット制御装置２３、第１溶接装置３０及び第２溶接装置４０が接続されており、これら装置１３、２３、３０、４０に対して制御部５１が制御信号を出力する。第１ロボット制御装置１３、第２ロボット制御装置２３、第１溶接装置３０及び第２溶接装置４０は、制御部５１からの制御信号が入力されると、所定のプログラムや設定値に従って動作する。 (Configuration of control device)
As shown in FIG. 2 , the control device 50 includes a control section 51 such as a microcomputer, and an operation panel 52 . The operation panel 52 is used to perform operations such as starting and stopping the operation of the welding system 1 and inputting various set values. An operation panel 52 is connected to the control unit 51, and operation information of the operation panel 52 is input. Furthermore, the first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 are connected to the control unit 51. Then, the control section 51 outputs a control signal. The first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 operate according to predetermined programs and set values when control signals are input from the control unit 51. FIG.
　尚、制御装置５０を省略し、第１ロボット制御装置１３、第２ロボット制御装置２３、第１溶接装置３０及び第２溶接装置４０を統合して動作させる統合制御部を設けてもよい。また、制御装置５０を省略し、第１ロボット制御装置１３、第２ロボット制御装置２３、第１溶接装置３０及び第２溶接装置４０を連係させて動作させてもよい。 It should be noted that the control device 50 may be omitted, and an integrated control unit that integrates and operates the first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 may be provided. Alternatively, the control device 50 may be omitted, and the first robot control device 13, the second robot control device 23, the first welding device 30, and the second welding device 40 may be linked and operated.
　（部品保持装置の構成）
　図１に示すように、溶接システム１は部品保持装置６００を備えている。部品保持装置６００は、部品Ｗを所定の姿勢で保持することが可能に構成されており、例えば各種クランプ装置等を備えている。図示しないが、部品保持装置６００は産業用ロボットであってもよい。この場合、ロボットアームの先端に部品Ｗを把持させて所定の姿勢で保持することができる。 (Configuration of component holding device)
As shown in FIG. 1, the welding system 1 includes a component holding device 600. As shown in FIG. The component holding device 600 is configured to be able to hold the component W in a predetermined posture, and includes, for example, various clamping devices. Although not shown, the component holding device 600 may be an industrial robot. In this case, the tip of the robot arm can grip the part W and hold it in a predetermined posture.
　（部品の構成）
　本溶接システム１で溶接可能な被溶接部材としての部品Ｗの一例については、図３及び図４に基づいて説明する。図４に示すように、部品Ｗは、第１板材６０及び第２板材７０が溶接されることによって構成されたものであり、内部が空洞の中空部品である。この実施形態の部品Ｗは、自動車のペダルアームであり、従って自動車への取付状態で上下方向に長い形状を有している。図３における上側が自動車への取付状態で上になり、図３における下側が自動車への取付状態で下になる。このように所定方向に長い形状の部品Ｗは、厚み方向一方側が第１板材６０で構成され、厚み方向他方側が第２板材７０で構成される場合がある。 (Composition of parts)
An example of a component W as a member to be welded that can be welded by the welding system 1 will be described with reference to FIGS. 3 and 4. FIG. As shown in FIG. 4, the part W is a hollow part, which is formed by welding a first plate member 60 and a second plate member 70 together. The part W of this embodiment is a pedal arm of an automobile, and therefore has a vertically elongated shape when attached to the automobile. The upper side in FIG. 3 is the upper side when attached to the automobile, and the lower side in FIG. 3 is the lower side when attached to the automobile. In this way, the part W having a shape that is elongated in a predetermined direction may be composed of the first plate member 60 on one side in the thickness direction and the second plate member 70 on the other side in the thickness direction.
　図４に示すように、第１板材６０は、頂壁部６１と、頂壁部６１の両側端部から第２板材７０側へ延びる側壁部６２、６３とを備えており、頂壁部６１及び側壁部６２、６３は１枚の板材をプレス加工することによって一体成形されている。一方の側壁部６２の端部は、他方の側壁部６３から離れる方向へ延びるフランジ状に形成されている。また、他方の側壁部６３の端部は、一方の側壁部６２から離れる方向へ延びるフランジ状に形成されている。 As shown in FIG. 4, the first plate member 60 includes a top wall portion 61 and side wall portions 62 and 63 extending from both side end portions of the top wall portion 61 toward the second plate member 70 side. And the side walls 62 and 63 are integrally formed by pressing a single plate material. An end portion of one side wall portion 62 is formed in a flange shape extending in a direction away from the other side wall portion 63 . An end portion of the other side wall portion 63 is formed into a flange shape extending in a direction away from the one side wall portion 62 .
　第２板材７０は、頂壁部７１と、頂壁部７１の両側端部から第１板材６０側へ延びる側壁部７２、７３とを備えており、頂壁部７１及び側壁部７２、７３は１枚の板材をプレス加工することによって一体成形されている。一方の側壁部７２の端部は、他方の側壁部７３から離れる方向へ延びるフランジ状に形成されている。また、他方の側壁部７３の端部は、一方の側壁部７２から離れる方向へ延びるフランジ状に形成されている。 The second plate member 70 includes a top wall portion 71 and side wall portions 72, 73 extending from both side ends of the top wall portion 71 toward the first plate member 60. The top wall portion 71 and the side wall portions 72, 73 are It is integrally formed by pressing a single plate material. An end portion of one side wall portion 72 is formed in a flange shape extending in a direction away from the other side wall portion 73 . An end portion of the other side wall portion 73 is formed into a flange shape extending in a direction away from the one side wall portion 72 .
　第１板材６０の一方の側壁部６２のフランジ状の部分と第２板材７０の一方の側壁部７２のフランジ状の部分とが重ね合わされるとともに、第１板材６０の他方の側壁部６３のフランジ状の部分と第２板材７０の他方の側壁部７３のフランジ状の部分とが重ね合わされている。この状態で、第１板材６０の一方の側部に位置する第１縁部６２ａと、第２板材７０の一方の側部に位置する第１縁部７２ａとが重ね合わされるとともに、第１板材６０の他方の側部に位置する第２縁部６３ａと、第２板材７０の他方の側部に位置する第２縁部７３ａとが重ね合わされる。つまり、第１縁部６２ａ、７２ａ同士を重ね合わせてへり溶接するとともに、第２縁部６３ａ、７３ａ同士を重ね合わせてへり溶接することによって第１板材６０と第２板材７０とが接合される。第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａは、ともに部品Ｗの長手方向に延びており、第１縁部６２ａ、７２ａは、部品Ｗの２つの長手方向の縁部のうちの一方の縁部であり、第２縁部６３ａ、７３ａは、部品Ｗの２つの長手方向の縁部のうちの他方の縁部である。 The flange-shaped portion of one side wall portion 62 of the first plate member 60 and the flange-shaped portion of one side wall portion 72 of the second plate member 70 are overlapped, and the flange portion of the other side wall portion 63 of the first plate member 60 is overlapped. The shaped portion and the flange-shaped portion of the other side wall portion 73 of the second plate member 70 are overlapped. In this state, the first edge portion 62a located on one side of the first plate member 60 and the first edge portion 72a located on one side of the second plate member 70 are overlapped, and the first plate member A second edge 63a located on the other side of the plate 60 and a second edge 73a located on the other side of the second plate member 70 are overlapped. That is, the first plate member 60 and the second plate member 70 are joined by overlapping the first edge portions 62a and 72a and edge-welding them and by overlapping and edge-welding the second edge portions 63a and 73a. . The first edges 62a, 72a and the second edges 63a, 73a both extend in the longitudinal direction of the part W, the first edges 62a, 72a being one of the two longitudinal edges of the part W. One edge, the second edge 63a, 73a, is the other of the two longitudinal edges of the part W. FIG.
　また、第１板材６０及び第２板材７０は三次元形状に湾曲ないし屈曲した複雑な形状である。このため、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａは、それぞれ、三次元に曲がった形状となっている。すなわち、部品Ｗを上から見た時、側方から見た時、長手方向に沿って見た時のいずれの場合も、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａが曲がって見える。尚、第１縁部６２ａ、７２ａと、第２縁部６３ａ、７３ａとは同じ形状であってもよいし、異なる形状であってもよい。また、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａは、直線状に延びていてもよい。 Also, the first plate member 60 and the second plate member 70 have complicated shapes that are curved or bent in a three-dimensional shape. Therefore, the first edge portions 62a, 72a and the second edge portions 63a, 73a each have a three-dimensionally curved shape. That is, when the component W is viewed from above, when viewed from the side, and when viewed along the longitudinal direction, the first edges 62a, 72a and the second edges 63a, 73a are bent. appear. The first edge portions 62a, 72a and the second edge portions 63a, 73a may have the same shape or may have different shapes. Also, the first edges 62a, 72a and the second edges 63a, 73a may extend linearly.
　上述した部品Ｗの構造や形状は一例であり、他の構造や形状であってもよい。図示しないが、例えば一方が第１板材６０のような形状で、他方が平板形状であってもよく、この場合も、第１縁部同士を重ね合わせてへり溶接するとともに、第２縁部同士を重ね合わせてへり溶接することが可能である。また、ドーム状に成形された板材を組み合わせた部品Ｗであってもよいし、箱型の部品Ｗであってもよい。 The structure and shape of the component W described above are examples, and other structures and shapes may be used. Although not shown, for example, one may have a shape like the first plate 60 and the other may have a flat plate shape. can be overlapped and edge welded. Further, the component W may be a combination of dome-shaped plate materials, or a box-shaped component W may be used.
　（アーク溶接方法）
　本実施形態に係るアーク溶接方法は、第１縁部６２ａ、７２ａ同士を重ね合わせてへり溶接するとともに、第２縁部６３ａ、７３ａ同士を重ね合わせてへり溶接する方法であり、部品Ｗを保持する保持工程と、溶接を実行する溶接工程とを備えている。 (Arc welding method)
The arc welding method according to the present embodiment is a method in which the first edge portions 62a and 72a are overlapped and edge-welded, and the second edge portions 63a and 73a are overlapped and edge-welded. and a welding step of performing welding.
　保持工程では、部品保持装置６００を使用する。すなわち、プレス加工によって得られた第１板材６０及び第２板材７０を、第１縁部６２ａ、７２ａ同士を重ね合わせるとともに、第２縁部６３ａ、７３ａ同士を重ね合わせる。この状態で、第１板材６０及び第２板材７０を部品保持装置６００のクランプ装置でクランプする。 A component holding device 600 is used in the holding process. That is, the first plate member 60 and the second plate member 70 obtained by pressing are overlapped with the first edge portions 62a and 72a and the second edge portions 63a and 73a are overlapped with each other. In this state, the first plate member 60 and the second plate member 70 are clamped by the clamping device of the component holding device 600 .
　部品保持装置６００は、クランプ装置の位置や角度を変えることができるとともに、部品Ｗのクランプ位置を変えることができる。これにより、部品Ｗの姿勢を任意の姿勢にすることができる。具体的には、図３に示すように、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａが共に横に向くように、かつ、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａが下降傾斜するように部品Ｗの姿勢を決定し、この姿勢のままで部品保持装置６００が部品Ｗを保持する。保持された部品Ｗを上から見たとき、第１縁部６２ａ、７２ａが左に位置し、第２縁部６３ａ、７３ａが右に位置している。第１縁部６２ａ、７２ａは互いに上下方向に重なった状態で左に向き、また、第２縁部６３ａ、７３ａは互いに上下方向に重なった状態で右に向いている。すなわち、第１縁部６２ａ、７２ａと、第２縁部６３ａ、７３ａとは、水平方向で互いに反対に向いている。 The component holding device 600 can change the position and angle of the clamping device, and can change the clamping position of the component W. As a result, the posture of the component W can be changed to any posture. Specifically, as shown in FIG. 3, both the first edges 62a, 72a and the second edges 63a, 73a face sideways, and the first edges 62a, 72a and the second edges 63a are arranged sideways. , 73a are inclined downward, and the component holding device 600 holds the component W in this posture. When the held part W is viewed from above, the first edges 62a, 72a are positioned on the left and the second edges 63a, 73a are positioned on the right. The first edge portions 62a and 72a are vertically overlapped with each other and face left, and the second edge portions 63a and 73a are vertically overlapped with each other and face right. That is, the first edges 62a, 72a and the second edges 63a, 73a face in opposite directions in the horizontal direction.
　また、保持された部品Ｗは、当該部品Ｗの長手方向一方が他方に比べて下に位置する姿勢である。これにより、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａは、長手方向一方が他方に比べて下に位置するように全体として傾斜する。このとき、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａの下降傾斜角度が４５゜以上となるように部品Ｗの姿勢を保持する。下降傾斜角度は、水平面に対する第１縁部６２ａ、７２ａの角度、水平面に対する第２縁部６３ａ、７３ａの角度である。 In addition, the part W held is in a posture in which one of the longitudinal directions of the part W is positioned lower than the other. As a result, the first edge portions 62a, 72a and the second edge portions 63a, 73a are inclined as a whole such that one of them in the longitudinal direction is positioned lower than the other. At this time, the posture of the component W is maintained so that the downward inclination angle of the first edge portions 62a, 72a and the second edge portions 63a, 73a is 45° or more. The downward tilt angle is the angle of the first edges 62a, 72a with respect to the horizontal plane and the angle of the second edges 63a, 73a with respect to the horizontal plane.
　ここで、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａは、三次元に曲がっているので、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａの部分によって下降傾斜角度は異なっており、１つの部品Ｗの中に下降傾斜角度が小さな部分と下降傾斜角度が大きな部分とが存在している。この実施形態では、保持状態にある第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａを側方から見た時に第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａが曲がっている場合があり、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａの各部分の傾斜角度のうち、最小の傾斜角度となる部分の傾斜角度を４５゜以上としている。尚、下降傾斜角度は５０゜以上がより好ましい。下降傾斜角度は、第１溶接トーチ３２及び第２溶接トーチ４２の下進方向を規定する角度となるので、下進角と呼ぶこともできる。 Here, since the first edges 62a, 72a and the second edges 63a, 73a are three-dimensionally curved, the descending inclination angle is The difference is that one component W has a portion with a small downward inclination angle and a portion with a large downward inclination angle. In this embodiment, the first edges 62a, 72a and the second edges 63a, 73a are bent when viewed from the side in the held state. In some cases, among the inclination angles of the respective portions of the first edge portions 62a, 72a and the second edge portions 63a, 73a, the inclination angle of the portion having the minimum inclination angle is set to 45° or more. It should be noted that the downward inclination angle is more preferably 50° or more. Since the downward inclination angle is an angle that defines the downward direction of the first welding torch 32 and the second welding torch 42, it can also be called a downward advance angle.
　上記保持工程が完了した後、溶接工程に進む。溶接工程では、図１に示すように第１ロボット１０と第２ロボット２０とを同時に動かしながら、第１溶接装置３０と第２溶接装置４０とで同時に下進溶接を行う。図３に示すように、第１ロボット１０のロボットアーム１２に把持した第１溶接トーチ３２の先端を第１縁部６２ａ、７２ａに側方から接近させて当該第１縁部６２ａ、７２ａに沿って下へ進めながらアークを発生させて第１縁部６２ａ、７２ａを溶接する。第１溶接トーチ３２の進行方向を矢印Ｂで示す。第１縁部６２ａ、７２ａが三次元に曲がっているので、第１溶接トーチ３２を左右方向に移動させる場合もある。 After the above holding process is completed, proceed to the welding process. In the welding process, as shown in FIG. 1, downward welding is performed simultaneously by the first welding device 30 and the second welding device 40 while simultaneously moving the first robot 10 and the second robot 20 . As shown in FIG. 3, the tip of the first welding torch 32 gripped by the robot arm 12 of the first robot 10 is brought closer to the first edges 62a, 72a from the side and is moved along the first edges 62a, 72a. As it moves downward, an arc is generated to weld the first edges 62a, 72a. An arrow B indicates the traveling direction of the first welding torch 32 . Since the first edges 62a and 72a are three-dimensionally curved, the first welding torch 32 may be moved in the horizontal direction.
　また、第２ロボット２０のロボットアーム２２に把持した第２溶接トーチ４２の先端を第２縁部６３ａ、７３ａに側方から接近させて当該第２縁部６３ａ、７３ａに沿って下へ進めながらアークを発生させて第２縁部６３ａ、７３ａを溶接する。第２溶接トーチ４２の進行方向を矢印Ｃで示す。第２縁部６３ａ、７３ａも三次元に曲がっているので、第２溶接トーチ４２を左右方向に移動させる場合もある。第１縁部６２ａ、７２ａの溶接と、第２縁部６３ａ、７３ａの溶接とは、並行して行う。 In addition, the tip of the second welding torch 42 gripped by the robot arm 22 of the second robot 20 is brought closer to the second edges 63a, 73a from the side and advanced downward along the second edges 63a, 73a. An arc is generated to weld the second edges 63a, 73a. An arrow C indicates the traveling direction of the second welding torch 42 . Since the second edges 63a and 73a are also three-dimensionally curved, the second welding torch 42 may be moved in the horizontal direction. The welding of the first edge portions 62a, 72a and the welding of the second edge portions 63a, 73a are performed in parallel.
　尚、第１縁部６２ａ、７２ａの溶接と、第２縁部６３ａ、７３ａの溶接との開始タイミングは異なっていてもよいし、第１縁部６２ａ、７２ａの溶接と、第２縁部６３ａ、７３ａの溶接との終了タイミングは異なっていてもよい。例えば、第１縁部６２ａ、７２ａの長さが第２縁部６３ａ、７３ａの長さよりも短い場合には、第１縁部６２ａ、７２ａの溶接開始タイミングを第２縁部６３ａ、７３ａの溶接開始タイミングよりも遅くしたり、第１縁部６２ａ、７２ａの溶接終了タイミングを第２縁部６３ａ、７３ａの溶接終了タイミングよりも早くすることができる。また、第１縁部６２ａ、７２ａの溶接開始タイミングと第２縁部６３ａ、７３ａの溶接開始タイミングとは同じであってもよい。また、第１縁部６２ａ、７２ａの溶接終了タイミングと第２縁部６３ａ、７３ａの溶接終了タイミングとは同じであってもよい。溶接開始タイミング及び終了タイミングは、第１溶接装置３０、第２溶接装置４０及び制御装置５０によってコントロール可能である。 The welding of the first edge portions 62a, 72a and the welding of the second edge portions 63a, 73a may start at different timings. , 73a may be different. For example, when the length of the first edge portions 62a, 72a is shorter than the length of the second edge portions 63a, 73a, the welding start timing of the first edge portions 62a, 72a is adjusted to the welding start timing of the second edge portions 63a, 73a. The welding end timing of the first edge portions 62a, 72a can be made later than the start timing, or the welding end timing of the second edge portions 63a, 73a can be made earlier. Also, the welding start timing of the first edge portions 62a, 72a and the welding start timing of the second edge portions 63a, 73a may be the same. Also, the welding end timing of the first edge portions 62a, 72a and the welding end timing of the second edge portions 63a, 73a may be the same. The welding start timing and end timing can be controlled by the first welding device 30 , the second welding device 40 and the control device 50 .
　溶接工程では、第１溶接トーチ３２及び第２溶接トーチ４２の姿勢を、先端が基端に比べて下に位置する下向き姿勢としてもよいし、先端が基端に比べて上に位置する上向き姿勢としてもよいし、先端と基端が同じ高さになる水平姿勢としてもよい。第１溶接トーチ３２及び第２溶接トーチ４２の姿勢は、それぞれ、第１ロボット１０及び第２ロボット２０の制御によって変更できる。 In the welding process, the posture of the first welding torch 32 and the second welding torch 42 may be a downward posture in which the tip is positioned below the base end, or an upward posture in which the tip is positioned above the base end. or a horizontal position in which the distal end and the proximal end are at the same height. The postures of the first welding torch 32 and the second welding torch 42 can be changed by controlling the first robot 10 and the second robot 20, respectively.
　図４に示すように、第１溶接トーチ３２及び第２溶接トーチ４２が下向き姿勢にある時には、水平面（一点鎖線で示す）に対する角度αが１０゜以下となるようにするのが好ましい。また、第１溶接トーチ３２及び第２溶接トーチ４２が上向き姿勢にある時には、水平面に対する角度βが５゜以下となるようにするのが好ましい。すなわち、第１溶接トーチ３２及び第２溶接トーチ４２の姿勢を、水平面に対して１０゜の傾斜角度を持った下向き姿勢と、水平面に対して５゜の傾斜角度を持った上向き姿勢との間で設定するのが好ましい。尚、角度αは８゜以下とするのがより好ましく、角度βは３゜以下とするのがより好ましい。 As shown in FIG. 4, when the first welding torch 32 and the second welding torch 42 are in the downward posture, it is preferable that the angle α with respect to the horizontal plane (indicated by the dashed line) is 10° or less. Also, when the first welding torch 32 and the second welding torch 42 are in the upward posture, it is preferable that the angle β with respect to the horizontal plane is 5° or less. That is, the postures of the first welding torch 32 and the second welding torch 42 are set between a downward posture with an inclination angle of 10° with respect to the horizontal plane and an upward posture with an inclination angle of 5° with respect to the horizontal plane. It is preferable to set with The angle α is more preferably 8° or less, and the angle β is more preferably 3° or less.
　すなわち、仮に溶接トーチ３２、４２の下向き姿勢時の角度αが１０゜よりも大きくなると、縁部６２ａ、７２ａ、６３ａ、７３ａの溶け込みが均一になり難く、また、溶接トーチ３２、４２の上向き姿勢時の角度βが５゜よりも大きくなると、縁部６２ａ、７２ａ、６３ａ、７３ａの溶け込みが均一になり難い。本実施形態では、溶接トーチ３２、４２の下向き姿勢時の角度αを１０゜以下とし、溶接トーチ３２、４２の上向き姿勢時の角度βを５゜以下とすることができるので、縁部６２ａ、７２ａ、６３ａ、７３ａの溶け込みを均一化することができる。 That is, if the angle α when the welding torches 32, 42 are in the downward posture is greater than 10°, it will be difficult for the edges 62a, 72a, 63a, 73a to penetrate uniformly, and the welding torches 32, 42 in the upward posture When the hour angle β is larger than 5°, it is difficult to uniformly melt the edges 62a, 72a, 63a, 73a. In the present embodiment, the angle α when the welding torches 32 and 42 face downward can be set to 10° or less, and the angle β when the welding torches 32 and 42 face upward can be set to 5° or less. The melting of 72a, 63a, and 73a can be made uniform.
　（実施形態の作用効果）
　以上説明したように、この実施形態によれば、部品Ｗの第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａが共に横に向いているので、第１溶接トーチ３２を第１縁部６２ａ、７２ａに対して側方から接近させながら溶接することと、第２溶接トーチ４２を第２縁部６３ａ、７３ａに対して側方から接近させながら溶接することとが並行して行えるようになる。このとき、第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａが下降傾斜していて、第１溶接トーチ３２及び第２溶接トーチ４２を第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａに沿って下へ進めるようにしているので、重力が作用している溶融金属は第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａに沿ってアークの後を追うように流れていき、このことで良好な溶接が可能になる。 (Action and effect of the embodiment)
As described above, according to this embodiment, both the first edge portions 62a, 72a and the second edge portions 63a, 73a of the component W face sideways, so that the first welding torch 32 is positioned at the first edge portion. Welding while bringing the second welding torch 42 closer to the second edges 62a and 72a from the side and welding while making the second welding torch 42 closer to the second edges 63a and 73a from the side can be performed in parallel. Become. At this time, the first edge portions 62a, 72a and the second edge portions 63a, 73a are inclined downward, and the first welding torch 32 and the second welding torch 42 are moved toward the first edge portions 62a, 72a and the second edge portions 63a. , 73a so that the molten metal under the force of gravity follows the arc along the first edges 62a, 72a and the second edges 63a, 73a. This allows for good welds.
　すなわち、仮に第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａの傾斜角度を４５゜未満にすると、溶接条件等によっては溶融金属が垂れ落ちやすくなってしまうが、本実施形態によれば、アーク溶接時における第１縁部６２ａ、７２ａ及び第２縁部６３ａ、７３ａの下進角が４５゜以上になるので、溶融金属がより一層垂れ落ちにくくなり、溶接ビードの外観がきれいになる。 That is, if the inclination angle of the first edge portions 62a, 72a and the second edge portions 63a, 73a is set to less than 45°, the molten metal tends to drip down depending on the welding conditions. Since the downward angle of the first edge portions 62a, 72a and the second edge portions 63a, 73a during arc welding is 45° or more, the molten metal is more difficult to drip and the appearance of the weld bead is improved.
　このことを図５に基づいて説明する。図５には、下進角を０゜（水平）にした場合と、３０゜にした場合と、５０゜にした場合のそれぞれで実際に溶接して得られたビードの外観写真を示している。下進角が５０゜と４５゜とではビードの外観は殆ど同じ外観であったため、４５゜のときの外観写真を省略している。図５に示すように、下進角が０゜では、溶融金属が垂れ落ちてしまい、溶接不良が発生する。下進角が３０゜では、０゜に比べればビードがきれいになり、溶接条件によっては溶接不良とはならないが、厳しめの溶接条件の場合には溶接不良が発生し得る。一方、下進角が４５゜以上であれば、ビードがきれいになり、厳しめの溶接条件の場合であっても溶接不良が発生しにくくなる。溶接部の断面写真を見ても、きれいに溶け込んでいることが分かる。 This will be explained based on FIG. FIG. 5 shows photographs of the appearance of beads actually welded when the downward advance angle is 0° (horizontal), 30°, and 50°. . Since the appearance of the bead was almost the same at the descending angle of 50° and 45°, the photograph of the appearance at 45° is omitted. As shown in FIG. 5, when the downward angle is 0°, the molten metal drips down, resulting in poor welding. When the downward angle is 30°, the bead becomes finer than when the angle is 0°, and the weld does not become defective depending on the welding conditions. On the other hand, if the downward angle is 45° or more, the bead will be clean, and poor welding will be less likely to occur even under severe welding conditions. Looking at the cross-sectional photograph of the welded part, it can be seen that it has melted cleanly.
　また、横向き下進溶接の場合はワークを固定したまま、形状に対してトーチの動きだけで追従させることができる。また、溶融金属の流れ具合のコントロールは予め設定した下進角度と溶接速度によって行うことができる。例えば、形状によっては傾斜角度が大きくなり溶融金属が先行してしまう部位が存在することがあるため、そこは速度でコントロールすることができる。また、ワークを横にしているのでワークの形状による湯流れの変化が小さい。形状に対する溶融金属の追従性は横向き下進の方が良好である。 Also, in the case of horizontal downward welding, it is possible to keep the workpiece fixed and follow the shape only with the movement of the torch. In addition, the flow of the molten metal can be controlled by preset downward angle and welding speed. For example, depending on the shape, there may be a portion where the angle of inclination becomes large and the molten metal advances, so this portion can be controlled by speed. In addition, since the work is placed horizontally, the flow of molten metal is less affected by the shape of the work. The followability of the molten metal to the shape is better in the horizontal downward movement.
　上述の実施形態はあらゆる点で単なる例示に過ぎず、限定的に解釈してはならない。さらに、特許請求の範囲の均等範囲に属する変形や変更は、全て本発明の範囲内のものである。 The above-described embodiments are merely examples in all respects and should not be construed in a restrictive manner. Furthermore, all modifications and changes within the equivalent range of claims are within the scope of the present invention.
　以上説明したように、本発明に係るアーク溶接方法は、例えば各種部品等を溶接する場合に利用することができる。 As explained above, the arc welding method according to the present invention can be used, for example, when welding various parts.
１０　　　　　　第１ロボット
２０　　　　　　第２ロボット
３２　　　　　　第１溶接トーチ
４２　　　　　　第２溶接トーチ
６０　　　　　　第１板材
６２ａ　　　　　第１縁部
６３ａ　　　　　第２縁部
７０　　　　　　第２板材
７２ａ　　　　　第１縁部
７３ａ　　　　　第２縁部
Ｗ　　　　　　　部品（被溶接部材） 10 First robot 20 Second robot 32 First welding torch 42 Second welding torch 60 First plate 62a First edge 63a Second edge 70 Second plate 72a First edge 73a Second edge W Part (cover welding parts)

Claims (6)

  1. 　被溶接部材の一方の側部に位置する第１縁部同士を重ね合わせてへり溶接するとともに、被溶接部材の他方の側部に位置する第２縁部同士を重ね合わせてへり溶接するアーク溶接方法において、
    　前記第１縁部及び前記第２縁部が横に向くように、かつ、前記第１縁部及び前記第２縁部が下降傾斜するように前記被溶接部材の姿勢を保持する保持工程を行った後、
    　第１溶接トーチの先端を前記第１縁部に側方から接近させて当該第１縁部に沿って下へ進めながらアークを発生させて溶接し、第２溶接トーチの先端を前記第２縁部に側方から接近させて当該第２縁部に沿って下へ進めながらアークを発生させて溶接する溶接工程を行うことを特徴とするアーク溶接方法。     Arc welding in which first edge portions located on one side of a member to be welded are overlapped and edge-welded, and second edge portions located on the other side of the member to be welded are overlapped and edge-welded. In the method
    performing a holding step of holding the posture of the member to be welded such that the first edge and the second edge are directed sideways and the first edge and the second edge are inclined downward; After
    The tip of the first welding torch is laterally approached to the first edge and is welded by generating an arc while proceeding downward along the first edge, and the tip of the second welding torch is moved to the second edge. An arc welding method, wherein a welding step is performed in which an arc is generated and welded while approaching the part from the side and proceeding downward along the second edge.
  2. 　請求項１に記載のアーク溶接方法において、
    　前記保持工程では、前記第１縁部及び前記第２縁部の下降傾斜角度が４５゜以上となるように前記被溶接部材の姿勢を保持することを特徴とするアーク溶接方法。     In the arc welding method according to claim 1,
    The arc welding method, wherein in the holding step, the posture of the member to be welded is held so that the downward inclination angle of the first edge and the second edge is 45° or more.
  3. 　請求項２に記載のアーク溶接方法において、
    　前記保持工程では、三次元に曲がっている前記第１縁部及び前記第２縁部の各部分の傾斜角度のうち、最小の傾斜角度となる部分の傾斜角度を４５゜以上とすることを特徴とするアーク溶接方法。     In the arc welding method according to claim 2,
    In the holding step, among the inclination angles of the three-dimensionally curved portions of the first edge portion and the second edge portion, the inclination angle of the portion having the minimum inclination angle is set to 45° or more. and arc welding method.
  4. 　請求項２に記載のアーク溶接方法において、
    　前記保持工程では、前記第１縁部及び前記第２縁部の下降傾斜角度が５０゜以上となるように前記被溶接部材の姿勢を保持することを特徴とするアーク溶接方法。     In the arc welding method according to claim 2,
    The arc welding method, wherein in the holding step, the posture of the member to be welded is held so that the downward inclination angle of the first edge and the second edge is 50° or more.
  5. 　請求項１に記載のアーク溶接方法において、
    　前記溶接工程では、前記第１溶接トーチ及び前記第２溶接トーチの姿勢を、先端が基端に比べて下に位置するように水平面に対して１０゜の傾斜角度を持った下向き姿勢と、先端が基端に比べて上に位置するように水平面に対して５゜の傾斜角度を持った上向き姿勢との間で設定することを特徴とするアーク溶接方法。     In the arc welding method according to claim 1,
    In the welding step, the postures of the first welding torch and the second welding torch are set to a downward posture with an inclination angle of 10° with respect to the horizontal plane so that the tip is positioned lower than the base end, and a tip An arc welding method characterized by setting between an upward posture having an inclination angle of 5° with respect to a horizontal plane so that the is located above the base end.
  6. 　請求項１に記載のアーク溶接方法において、
    　前記溶接工程では、第１ロボットに前記第１溶接トーチを把持させ、第２ロボットに前記第２溶接トーチを把持させ、前記第１縁部の溶接と前記第２縁部の溶接とを並行して行うことを特徴とするアーク溶接方法。     In the arc welding method according to claim 1,
    In the welding step, the first robot is caused to grip the first welding torch, the second robot is caused to grip the second welding torch, and the welding of the first edge and the welding of the second edge are performed in parallel. An arc welding method characterized by performing with.
PCT/JP2022/002915 2021-03-09 2022-01-26 Arc welding method WO2022190687A1 (en)

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JP2006334628A (en) * 2005-06-01 2006-12-14 Honda Motor Co Ltd Welding apparatus
JP2006341283A (en) * 2005-06-09 2006-12-21 Fanuc Ltd Positioner for arc welding, and arc welding robot system
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JP2018130744A (en) * 2017-02-15 2018-08-23 株式会社タダノ Manufacturing method of boom or jib

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6340673A (en) * 1986-08-04 1988-02-22 Nissan Motor Co Ltd Horizontal pulse arc welding method
JPH06269942A (en) * 1993-03-19 1994-09-27 Hisaka Works Ltd Method for controlling groove copying in welding of thin plate edge
JP2006334628A (en) * 2005-06-01 2006-12-14 Honda Motor Co Ltd Welding apparatus
JP2006341283A (en) * 2005-06-09 2006-12-21 Fanuc Ltd Positioner for arc welding, and arc welding robot system
WO2016129389A1 (en) * 2015-02-12 2016-08-18 Ｊｆｅスチール株式会社 Structure for bonding press-molded article, structural article for automobile having said bonding structure, and method for manufacturing bonded article
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